ABBRobotServer.cs
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using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace ABBRobotTest
{
public class ABBRobotServer
{
private static TcpServer tcpserver = null;
public static bool IsStart = false;
private static int ClientKeepSecond = 10;
private static int ServerPort = 21;
public static string ErrorInfo = "";
private static string MoveOK = "point ok";
private static string FreeOK = "free ok";
private static string LockOK = "lock ok";
private static string MoveCMD_1 = "move";
private static string MoveCMD_2 = "move2";
public static Dictionary<string, Client> ClientMap = new Dictionary<string, Client>();
//最后一次软件控制移动到的位置
public static string LastSendPoint = "";
public delegate void OpEnd(string result);
private static event OpEnd OnMoveEnd;
private static object LockObj = new object();
public static void StartServer(int port)
{
if (!IsStart)
{
ClientMap = new Dictionary<string, Client>();
if (tcpserver == null)
{
tcpserver = new TcpServer();
}
IsStart = true;
tcpserver.Start(port);
LogUtil.info( "ABBRobotServer在端口[" + port + "]监听！");
tcpserver.ReviceMsgEvent += tcp_ReviceMsgEvent;
}
}
public static void StopServer()
{
try
{
if (IsStart)
{
IsStart = false;
tcpserver.Stop();
}
}
catch (Exception ex)
{
LogUtil.error("关闭 监听出错：" + ex.ToString());
}
}
private static void tcp_ReviceMsgEvent(Client client, string msg)
{
try
{
if (String.IsNullOrEmpty(msg))
{
return;
}
ProcessMsg(client, msg);
}
catch (Exception ex)
{
LogUtil.error("处理料仓消息【" + msg + "】出错：" + ex.ToString());
}
}
private static bool ProcessMsg(Client client, string msg)
{
IPEndPoint clientipe = (IPEndPoint)client.ClientSocket.RemoteEndPoint;
string add = clientipe.Address.ToString();
// string[] msgArray = msg.Split(cmd_spilt);
msg = msg.Replace("\r", "");
LogUtil.debug("收到【" + add + "】的消息【" + msg + "】");
if (msg.ToUpper().Contains("ERROR"))
{
}else if(msg.ToUpper().Contains("MOVE")&& msg.ToUpper().Contains("OK"))
{
OnMoveEnd?.Invoke(msg);
}
else if (msg.ToUpper().Contains("MOVE2") && msg.ToUpper().Contains("OK"))
{
OnMoveEnd?.Invoke(msg);
}
return false;
}
public static void MoveTo(string robotIp, string PointName, string moveType="L" , double targetSpeed = 100, OpEnd AfterMove = null)
{
ABBRobotServer.OnMoveEnd = AfterMove;
SendMovePoint(robotIp, MoveCMD_1,PointName,moveType,targetSpeed.ToString());
}
public static void Move2To(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
{
ABBRobotServer.OnMoveEnd = AfterMove;
SendMovePoint(robotIp, MoveCMD_2, PointName, moveType, targetSpeed.ToString());
}
private static void SendMovePoint(string robotIp, string param1,string param2,string param3,string param4)
{
lock (LockObj)
{
if (ClientMap.ContainsKey(robotIp))
{
Client client = ClientMap[robotIp];
string str = param1 + "," + param2 + "," + param3 + "," + param4+"\r\n";
LastSendPoint = param2;
SendStrToClient(client, str);
}
}
}
private static bool SendStrToClient(Client client, string sendMsg)
{
if (client != null && client.ClientSocket.Connected)
{
byte[] sendBuffer = new byte[1024];
sendBuffer = Encoding.UTF8.GetBytes(sendMsg);
client.ClientSocket.Send(sendBuffer);
return true;
}
return false;
}
}
}